When an own vehicle changes lanes to another lane different from the traveling lane by override, a traveling control device for a vehicle generates a first travelable area in the traveling lane based on the predicted traveling trajectory in accordance with the override of the own vehicle and generates a second travelable area along the other lane. The traveling control device for the vehicle generates a third travelable area by connecting the first travelable area and the second travelable area, generates an own vehicle traveling trajectory within the third travelable area and controls a motion of the own vehicle so that the own vehicle travels along the own vehicle traveling trajectory.

A drive assist device for assisting a drive when a subject vehicle changes lanes comprises a position measurement unit configured to measure a position of the subject vehicle; a detection unit provided at the subject vehicle and configured to detect a surrounding situation of the subject vehicle; a database configured to store map information; and a setting unit configured to set a lane change location and a reference point on a travel route of the subject vehicle on the basis of the position of the subject vehicle and the map information. The reference point is located ahead of the lane change location in a travel direction of the subject vehicle. The setting unit sets, on the basis of a detection range of the detection unit and a position of the reference point, a point at which the subject vehicle should complete changing lanes, as a lane change completion point.

A vehicle control system includes a detection section that detects a nearby vehicle traveling in the vicinity of a vehicle, a prediction section that predicts positions at plural future points in time for the nearby vehicle detected by the detection section, a derivation section that derives boundary positions for the vehicle at the plural future points in time so as to provide a margin on a side encroaching on a lane change target area of the vehicle with respect to the positions of the nearby vehicle predicted by the prediction section for the plural future points in time, and a course generation section that generates a target course for changing lanes based on the boundary positions of the vehicle derived by the derivation section for the plural future points in time.

A control system of a vehicle, comprises: a control unit that controls a lane change operation from a travel lane on which the vehicle is traveling to an adjacent lane; a detection unit that detects a driver's lane change intention; and a switching unit that switches between a first control state in which the lane change operation of the vehicle is restricted and a second control state in which the lane change operation of the vehicle is possible, wherein in a case in which the detection unit detects the driver's lane change intention when the state of the vehicle is in the first control state, the lane change operation by the control unit is performed after the switching unit has shifted the state of the vehicle from the first control state to the second control state.

An automotive arithmetic system includes a main arithmetic device that determines a target motion of a motor vehicle so that the motor vehicle travel on a route generated based on a vehicle external environment estimated using deep learning based on an output from a vehicle external information acquisition device; and a backup arithmetic device that determines a backup target motion for causing the motor vehicle to travel on a travel route which is generated based on the output from the vehicle external information acquisition device and which the traveling motor vehicle takes until the motor vehicle stops at a stop position that satisfies a preset criterion. The automotive arithmetic system outputs a backup control signal to actuators in preference to a control signal when the main arithmetic device fails.

An automotive arithmetic system includes a main arithmetic unit that generates a travel route using deep learning based on an output from a vehicle external information acquisition device; an auxiliary arithmetic unit that generates a rule-based travel route in a free space without using deep learning; a safe route generation unit that generates a safe route, which is a route that the motor vehicle takes until the motor vehicle stops at a safe stop position; and an override processing unit that prioritizes one of the travel route generated by the main arithmetic unit, the rule-based travel route generated by the auxiliary arithmetic unit, or the safe route generated by the safe route generation unit, and determines a target motion of the motor vehicle so that the motor vehicle travels on the prioritized route.

A method includes receiving, by a computing system of a vehicle, a planned trajectory for the vehicle based on first sensor data associated with an external environment. The planned trajectory is generated by a primary computing system associated with a first sensor. The method further includes determining an environmental condition associated with the external environment. The environmental condition is included in second sensor data generated by a second sensor. The method further includes analyzing one or more parameters associated with the planned trajectory to determine whether the planned trajectory is based on the environmental condition, and, in response to determining that the primary computing system fails to base the planned trajectory upon the environmental condition, altering the one or more parameters associated with the planned trajectory to generate an altered planned trajectory. The method thus includes instructing the vehicle to execute the altered planned trajectory.

Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.

A system for creating a driving route of a vehicle includes: a vehicle selecting device to select a surrounding vehicle that is adjacent to a host vehicle; an intention determining device to determine an intention of the surrounding vehicle by using information including a location and a speed of the surrounding vehicle; a driving route predicting device to predict a driving route of the surrounding vehicle based on the determined intention of the surrounding vehicle; a map creating device to create a map by using the predicted driving route of the surrounding vehicle; and a driving route creating device to create a driving route of the host vehicle.

A driving support Electronic Control Unit (ECU) initializes a target trajectory calculation parameter at a start of Lane Change Assist Control (LCA), calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position in accordance with an elapsed time from the start of LCA; and calculates a target control amount according to the target trajectory function. When it is determined that the own vehicle has crossed a boundary white line, the driving support ECU again initializes the target trajectory calculation parameter, and calculate the target trajectory function based on the target trajectory calculation parameter.